Add assertion mechanism If shape is invalid #2340
Conversation
| @@ -390,6 +390,15 @@ bool PositionConstraint::configure(const moveit_msgs::msg::PositionConstraint& p | |||
| std::unique_ptr<shapes::Shape> shape(shapes::constructShapeFromMsg(pc.constraint_region.primitives[i])); | |||
| if (shape) | |||
| { | |||
| for(std::size_t j = 0; i < pc.constraint_region.primitives[i].dimensions.size(); ++j) | |||
There was a problem hiding this comment.
Could you transform this into a range-based for loop if possible?
| @@ -798,6 +798,18 @@ class MOVEIT_PLANNING_SCENE_EXPORT PlanningScene : public std::enable_shared_fro | |||
| return motion_feasibility_; | |||
| } | |||
|
|
|||
| /** \brief Check if a given shape is valid to prevent segmentation fault at | |||
There was a problem hiding this comment.
These could be free functions
| auto treat_shape_vectors = [&append](const auto& shape_vector, // the shape_msgs of each type | ||
| const auto& shape_poses_vector, // std::vector<const geometry_msgs::Pose> | ||
| const std::string& shape_type) { | ||
| auto treat_shape_vectors = [&append, this](const auto& shape_vector, // the shape_msgs of each type |
There was a problem hiding this comment.
If you'd make isShapeValid a free function you wouldn't need to pass this this pointer
| @@ -2040,6 +2048,25 @@ bool PlanningScene::isStateColliding(const std::string& group, bool verbose) | |||
| } | |||
| } | |||
|
|
|||
| bool PlanningScene::isShapeValid(const shape_msgs::msg::SolidPrimitive& shape) | |||
There was a problem hiding this comment.
Could you somehow merge these three functions into one, for example as a template? Having functions that just return true is a bit ugly
| @@ -390,6 +390,15 @@ bool PositionConstraint::configure(const moveit_msgs::msg::PositionConstraint& p | |||
| std::unique_ptr<shapes::Shape> shape(shapes::constructShapeFromMsg(pc.constraint_region.primitives[i])); | |||
| if (shape) | |||
| { | |||
| for(std::size_t j = 0; i < pc.constraint_region.primitives[i].dimensions.size(); ++j) | |||
| { | |||
| if(pc.constraint_region.primitives[i].dimensions[j] <= 0) | |||
There was a problem hiding this comment.
If ranged-based loops are not possible, you should prefer .at(x) instead of [x] for vectors
|
This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete. |
github-actions
bot
added
the
stale
github-actions
bot
removed
the
stale
Description
Based on suggestion of @henningkayser in #2244 I continued @sjahr 's work
Checklist